NanoBrain/NanoBrain-unitypackage
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Spherical UpdateState (finally)

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This commit is contained in:
Pascal Serrarens 2026-01-07 14:51:15 +01:00
parent cd6ec2ee1e
commit 6341d827e9
3 changed files with 16 additions and 70 deletions
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5
Assets/NanoBrain/LinearAlgebra/src/Direction.cs
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@ -188,6 +188,11 @@ namespace LinearAlgebra
}
#endif
public static Direction operator -(Direction d) {
AngleFloat horizontal = d.horizontal + AngleFloat.deg180;
AngleFloat vertical = -d.vertical;
return new Direction(horizontal, vertical);
}
/// <summary>
/// Tests the equality of two directions

12
Assets/NanoBrain/LinearAlgebra/src/Spherical.cs
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@ -17,8 +17,14 @@ namespace LinearAlgebra {
/// <param name="distance">The distance in meters</param>
/// <param name="direction">The direction of the vector</param>
public Spherical(float distance, Direction direction) {
this.distance = distance;
this.direction = direction;
if (distance > 0) {
this.distance = distance;
this.direction = direction;
}
else {
this.distance = -distance;
this.direction = -direction;
}
}
/// <summary>
@ -315,7 +321,7 @@ namespace LinearAlgebra {
return new Spherical(rAvg, new Direction(horizontalAvg, verticalAvg));
}
*/
*/
public static Spherical Average(IEnumerable<Spherical> vectors) {

69
Assets/NanoBrain/Neuroid.cs
View File

@ -75,57 +75,7 @@ public class Neuroid : Nucleus {
}
public override void UpdateState() {
// Vector3 resultVector = Vector3.zero;
// foreach (Synapse synapse in this.synapses) {
// Nucleus synapseNucleus = synapse.nucleus;
// if (synapseNucleus is Neuroid neuroid && neuroid.isSleeping)
// continue;
// Vector3 direction = synapseNucleus.outputValue.direction.ToVector3();
// float weight = synapse.weight;
// float activatedValue = curve.Evaluate(synapseNucleus.outputValue.magnitude);
// float magnitude = weight * activatedValue;
// //Debug.Log($"{this.name} {synapseNucleus.outputValue.direction} {synapseNucleus.outputValue.direction.horizontal}{synapseNucleus.outputValue.direction.vertical} {direction}");
// Vector3 a = direction * magnitude;
// //Debug.Log($"A {direction} {magnitude} {a}");
// resultVector += a;
// }
// if (average && this.synapses.Count > 0)
// resultVector /= this.synapses.Count;
/*
List<Vector3> v3s = new();
foreach (Synapse synapse in this.synapses) {
Nucleus synapseNucleus = synapse.nucleus;
if (synapseNucleus is Neuroid neuroid && neuroid.isSleeping)
continue;
Vector3 direction = synapseNucleus.outputValue.direction.ToVector3();
float weight = synapse.weight;
float activatedValue = curve.Evaluate(synapseNucleus.outputValue.magnitude);
float magnitude = weight * activatedValue;
//Debug.Log($"{this.name} {synapseNucleus.outputValue.direction} {synapseNucleus.outputValue.direction.horizontal}{synapseNucleus.outputValue.direction.vertical} {direction}");
Vector3 a = direction * magnitude;
//Debug.Log($"A {direction} {magnitude} {a}");
v3s.Add(a);
}
Vector3 sum = Vector3.zero; // Start with a zero vector
// Sum all vectors
foreach (Vector3 vector in v3s)
sum += vector;
// Calculate average
Vector3 averagevs = sum / v3s.Count;
Vector3 result1 = averagevs * v3s.Count;
// if (average && this.synapses.Count > 0)
// resultVector /= this.synapses.Count;
Spherical result = Spherical.FromVector3(result1);
*/
List<Spherical> sVectors = new();
List<Vector3> cVectors = new();
foreach (Synapse synapse in this.synapses) {
if (synapse.nucleus.isSleeping)
continue;
@ -134,29 +84,14 @@ public class Neuroid : Nucleus {
float activatedValue = curve.Evaluate(synapse.nucleus.outputValue.magnitude);
float magnitude = weight * activatedValue;
Spherical sVector = new(magnitude, synapse.nucleus.outputValue.direction);
//Debug.Log($"B {synapse.nucleus.outputValue.direction.ToVector3()} {magnitude} {vector.ToVector3()}");
sVectors.Add(sVector); //synapse.nucleus.outputValue);
Vector3 direction = synapse.nucleus.outputValue.direction.ToVector3();
Vector3 cVector = direction * magnitude;
cVectors.Add(cVector);
sVectors.Add(sVector);
}
Vector3 cResult = Vector3.zero;
foreach (Vector3 vector in cVectors)
cResult += vector;
Spherical sResult = Spherical.Average(sVectors);
if (average == false)
sResult *= sVectors.Count;
if (sResult != Spherical.FromVector3(cResult))
Debug.Log($"spherical different {sResult} != {Spherical.FromVector3(cResult)}");
//if (sResult.ToVector3() != cResult)
Debug.Log($"vector different {sResult.ToVector3()} != {cResult}");
UpdateResult(Spherical.FromVector3(cResult));
UpdateResult(sResult);
}
}